INS / Ultrasound navigation system

MORENO PATRICIO; POSE CLAUDIO; GIRIBET J. I.

Bs. As.

Simposio; Simposio Argentino de Sistemas Embebidos; 2015

The aim of this work is to present a navigation system for GPS denied environments. The system fuses measure- ments provided by an arrangement of ultrasonic range sensors with inertial measurements and a magnetometer. The core of the navigation computer are two microprocessors, an ARM Cortex M3 processor for low-level tasks, such as sensor acquisition and control, and an ARM Cortex A8 for computationally demanding tasks, as the fusion filter to compute navigation solutions. A brief description of the navigation computer is given, also the navigation algorithm is presented and validated through experimental results.